CN107872777B

CN107872777B - Service cooperation system for vehicle

Info

Publication number: CN107872777B
Application number: CN201710881281.XA
Authority: CN
Inventors: 长谷川拓矢; 早川和明
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2016-09-28
Filing date: 2017-09-26
Publication date: 2023-04-18
Anticipated expiration: 2037-09-26
Also published as: DE102017216987B4; US10539966B2; DE102017216987A1; US20180088589A1; CN107872777A

Abstract

A service cooperation system enables functions provided by in-vehicle devices (1 to 7) or external devices to be used as services. A service collaboration system for a vehicle includes a service interface (12), a local service bus (15), a service bus (13), and an integrated application (18). The service interface of the master device provides the service generated in the master device to the different devices. The local service bus sends and receives messages between the service interface of the master device and the service interface of the different device. The service bus is virtually formed by the connection of the local service bus of the master device and the local service buses of the different devices. The integrated application functions as an application and enables cooperative use of the in-vehicle service and the external service through the service bus.

Description

Service cooperation system for vehicle

Technical Field

The present disclosure relates to a service cooperation system for a vehicle.

Background

As described in JP 2014-153858A, JP 2015-187859A (corresponding to US 2015/0271276A) and JP 2006-142994A (corresponding to US 2006/0111825A), cooperative use of a plurality of functions provided by a plurality of Electronic Control Units (ECUs) is proposed. In this case, a plurality of ECUs mounted on the vehicle cooperate with each other. In a self-driving (self-driving) service, a self-driving ECU performs autonomous control by comprehensively determining detection results of in-vehicle sensors mounted on a vehicle. A high-level driving support system for realizing self-driving is being developed with this configuration.

Disclosure of Invention

Autonomous control performed only by the vehicle-mounted sensor makes it difficult to smoothly control the vehicle in a blind area (dead area) of an intersection or in bad weather where the recognition accuracy of the road shape is lowered due to snow or dust.

To solve the above-described difficulty of autonomous control, an external service provided by an external device including an Information Technology (IT) infrastructure and a transportation infrastructure preliminarily identifies additional cars existing in a blind area. Attempts are made to supplement smooth autonomous control by adapting the configuration. The external service supplements the functions of the in-vehicle device.

Generally, once the vehicle is manufactured, the functions of the in-vehicle devices are fixed. In contrast, external services provided by external devices including IT infrastructures and transportation infrastructures are rapidly developing. Therefore, the function of the vehicle is rapidly degraded compared to the external service. This difficulty occurs due to the life cycle differences between the external services and the functions of the vehicle.

In view of the above-described difficulties, IT is an object of the present disclosure to provide a service cooperation system for a vehicle, which is capable of improving the function of the vehicle by keeping up with the rapid development of external services provided by external devices including IT infrastructure and transportation infrastructure.

According to one aspect of the present disclosure, a service cooperation system for a vehicle is provided. The service cooperation system enables functions provided by the in-vehicle device or the external device to be used as services. The in-vehicle apparatus is connected to an in-vehicle network of the vehicle. The external device is communicably connected to the service cooperation system in a wireless manner. A service collaboration system for a vehicle includes a service interface, a local service bus, a service bus, and an integrated application. A service interface is provided to each of the master device and the different devices. The master device is one of the in-vehicle device or the external device. The different device is another device of the in-vehicle device or the external device. The service interface of the master device sends a request for a service to the different device in response to a request sent from an application of the different device. The service interface of the master device generates a service in the master device in response to a request that is sent from the different device and that requests the service of the master device. The service interface of the master device provides the service generated in the master device to the different device. A local service bus is provided to each of the master device and the different devices. The local service bus transmits and receives messages between the service interface of the master device and the service interface of the different device according to a predetermined protocol in response to a request or response to a service. The service bus is virtually formed by the connection of the local service bus of the master device and the local service bus of the different device. The integrated application functions as an application and enables cooperative use of the in-vehicle service and the external service through the service bus. The in-vehicle service is provided by the in-vehicle device, and the external service is provided by the external device.

In the above-described service cooperation system for a vehicle, a virtual service bus is established between the in-vehicle device and the external device. With this configuration, the integrated application can be made to utilize the in-vehicle service provided by the in-vehicle device and the external service provided by the external device by cooperating with each other. Thus, the function of the host vehicle can keep up with the development of external services.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description, which is made with reference to the accompanying drawings. In the drawings:

fig. 1 is a diagram schematically showing the configuration of an in-vehicle apparatus and an external apparatus according to an embodiment;

FIG. 2 is a block diagram showing an in-vehicle apparatus and an external apparatus;

FIG. 3 is a diagram showing the relationship between a service interface and a service bus;

FIG. 4 is a diagram illustrating the use of services by an edge server;

FIG. 5 is a diagram showing the concept of installing services of an edge server to a service bus;

FIG. 6 is a diagram schematically illustrating the cooperation provided by a service bus;

FIG. 7 is a diagram illustrating the collaboration of services provided by an integrated application;

FIG. 8 is a diagram illustrating a service protocol for service-to-service communications;

fig. 9 is a diagram showing an outline of a service;

FIG. 10 is a diagram showing the function of a service bus;

fig. 11 is a diagram showing modules constituting a service bus;

fig. 12 is a diagram showing a process of installing a service to a service bus;

fig. 13 is a diagram schematically showing cooperation provided by the vehicle information providing agent service;

FIG. 14 is a diagram schematically illustrating collaboration provided by a server proxy service;

FIG. 15 is a diagram schematically illustrating the collaboration provided by a virtual vehicle agent service;

fig. 16 is a diagram showing the use of processing in which an in-vehicle service and an external service cooperate with each other;

fig. 17 is a diagram showing the use of a shadow avoidance application of the process in which the in-vehicle service and the external service cooperate with each other; and

fig. 18 is a diagram showing edge regions determined in the traffic network.

Detailed Description

Hereinafter, a service cooperation system for a vehicle according to an embodiment of the present disclosure will be described with reference to the accompanying drawings. The service cooperation system for a vehicle enables an in-vehicle service provided by an in-vehicle apparatus and an external service provided by an external apparatus to cooperate with each other, and provides improved response speed to the cooperation. A service means providing a function to another service or application. Generally, a service is composed of a plurality of functions.

As shown in fig. 2, the in-vehicle apparatus includes an extended gateway (extended gateway) 1 connected to an in-vehicle network 8, a basic gateway 2, a display device 3, a locator ECU 4, a brake ECU 5, a lamp ECU6, and a camera ECU 7. In the present embodiment, the extension gateway 1 is provided by a Data Communication Module (DCM), and the basic gateway 2 is provided by a Central Gateway (CGW). In the following, the extension gateway 1 is also referred to as extension GW1, and the basic gateway 2 is referred to as basic GW 2. The protocol of the in-vehicle network 8 is defined appropriately for each domain. A domain may include one or more ECUs that communicate according to the same communication protocol. The protocol may be one of Controller Area Network (CAN), local Interconnect Network (LIN), flexRay, or Ethernet (Ethernet). Here, CAN, flexRay, and Ethernet are registered trademarks. Fig. 2 shows only representative ECUs, but nearly one hundred ECUs are actually connected to the on-vehicle network 8.

Each of GW1 and GW2, display device 3, and each of ECU 4, ECU 5, ECU6, and ECU7 has a corresponding well-known control apparatus. The control device is not shown in any of the figures. The control apparatus is constituted by a microcomputer having a Central Processing Unit (CPU), a Random Access Memory (RAM), a Read Only Memory (ROM), and an input/output (I/O). With this configuration, the control apparatus executes the functional program stored in the non-transitory tangible storage medium. Thus, in addition to the normal process, the functional program is also provided as a service.

As shown in fig. 1, the in-vehicle services and applications are installed in the extension GW1, the basic GW2, the display device 3, and each of the

ECUs

4, 5, 6, and 7. The extended GW1 is configured to establish wireless communication with an external device. The extension GW1 is installed with an Update Notification Service (UNS), a blind spot avoidance application (DAAA), a Stranger Detection Application (SDA), and a parking space detection application (PLVDA). The update notification service notifies the user of updates of the external service. The external service means a service provided by a system existing outside the vehicle. Here, the system existing outside the vehicle may be a server or an internal system. The server or internal system may provide traffic information, entertainment information, and mail services.

The basic GW2 performs rooting (rooting) in the domain to which the display device 3 and each of the

ECUs

4, 5, 6, and 7 belong. The domains may include an external service system domain, a human system domain, an environmental system domain, an ontology system domain, and a mobile system domain.

The display device 3 is installed with an Image Display Service (IDS). Here, the display device 3 displays various operation buttons for operating an air conditioner, audio, and the like, and a map for navigation.

The locator ECU 4 is installed with a Location Information Providing Service (LIPS). Here, the positioning ECU 4 measures the position of the host vehicle, which is required for autonomous control for self-driving, with high accuracy. The locator ECU 4 provides the measured position of the host vehicle to the autonomous system so that the autonomous system can perform autonomous control.

The brake ECU 5 is installed with a Brake Control Service (BCS). Here, the brake ECU 5 performs a braking operation when operated by the occupant, or automatically performs braking control during self-driving. The lamp ECU6 is installed with a Lamp Control Service (LCS). Here, the lamp ECU6 performs an on/off operation when operated by the occupant, or automatically turns on/off the lamp during self-control of the lamp. The camera ECU7 is installed with an Image Capturing Service (ICS). Here, the camera ECU7 captures a preceding vehicle or an obstacle present in front of the host vehicle.

The edge server 9 is provided as an external device. The edge server 9 is installed with a Collision Determination Service (CDS), a Stranger Detection Service (SDS), and a parking space notification service (PLVNS). These services are suitably installed to the edge server 9 corresponding to an edge area defined by the short-range communication area of the edge server 9. The edge server 9 is a server provided on an intermediate layer existing between the cloud server and the device. In this configuration, the edge server 9 provides processing requiring a more on-time real-time attribute than the cloud service, and provides specified information among the cloud information collected by the cloud server. The specified information represents the sensed information collected by the other device 10.

The other device 10 may represent an in-vehicle apparatus mounted on another vehicle, a smartphone owned by a cyclist or a pedestrian, or a monitoring camera device provided in a parking lot or an intersection. Another device 10 is installed with an image capturing service or a Position Providing Service (PPS). These services are appropriately installed to the other device 10 corresponding to the type of the other device 10. For example, an in-vehicle apparatus and a smartphone may be installed with a location providing service, and a monitoring camera may be installed with an image capturing service. Another vehicle traveling near the host vehicle provides position information of the other vehicle. The smartphone of the cyclist provides the location information of the person. A monitoring camera device provided at the intersection provides position information of a pedestrian present in a blind zone of the intersection based on the captured information. A surveillance camera device provided in a parking lot of a house provides position information of strangers present near the house based on the captured information. A surveillance camera device provided in a public parking lot of a company or a large retail store provides presence of pedestrians, additional vehicles, and parking lot spaces, which are not sensed by a host vehicle, according to the captured information.

The above-described in-vehicle device and external device cannot directly adopt each other, and do not support service removal and service addition. Therefore, in order to mutually adopt the respective functions possessed by the in-vehicle device and the external device, as shown in fig. 3, a service interface (hereinafter, referred to as a service I/F) 12 and a service bus 13 are provided. In the drawings, the service I/F is referred to as an I/F. The service I/F12 is provided by the adapter 11, and the service bus 13 transmits and receives messages including requests for services or responses to services according to a predetermined protocol.

The service bus 13 has a service management function that manages the installation location of services as well as service removal and service addition. Here, the service removal and the service addition mean removal of a service or addition of a service. In the present embodiment, as shown in fig. 1, the service bus 13 of the basic GW2 is installed with a Service Manager (SM) 13a. The basic GW2 has a function of rooting information between domains, and a function of managing an installation location of a service, and service removal and service addition. The service bus 13 is connected to a hardware layer (H/W) 14 through the in-vehicle network 8.

When an application or service employs another service, the other service is employed through the service I/F12 as shown in fig. 3. With this configuration, the application developer does not need to study or consider layers lower than the highest application layer. Since the service manager 13a manages the installation location of the service and the removal and addition of the service, the application developer does not need to study or consider the installation location of the application and the removal and addition of the application.

The service I/F12 is an interface provided by the adapter 11. The service I/F12 enables applications or services of the in-vehicle apparatus and the external apparatus to adopt existing functions of another in-vehicle apparatus and another external apparatus as services. The process in which the service I/F12 enables services and applications to adopt functions as services is referred to as providing functions as services. An application composed of a plurality of services is called an integrated application.

In order to realize the provision of the function as a service, each of the in-vehicle device and the external device is provided with a local service bus 15, and the virtual service bus 13 is established by connecting each local service bus. As shown in fig. 4, it is assumed that the in-vehicle apparatus installs the service a of the edge server 9 that functions as an external apparatus so that the in-vehicle apparatus can utilize the service a. In this case, the service a is installed on the local service bus 15 of the external device connected to the local service bus 15 of the host vehicle. Thus, service A is considered to be installed on the service bus 13, although service A is not installed directly on the host vehicle's local service bus 15.

Service a needs to be downloaded on the host vehicle so that the host vehicle can utilize service a. In the present embodiment, installing service a on the host vehicle means moving service a to service bus 13 by installing service a on service bus 13. As described above, with the development of the cloud environment, the service a can be installed on the in-vehicle device without downloading the service a.

A local service bus 15 can exist corresponding to a memory space. The memory space is generated by an Operating System (OS) 16 shown in fig. 1. When two or more memory spaces are generated by the OS 16 in one CPU, the local service bus 15 exists corresponding to each memory space. With this configuration, the service bus 13 can be independently installed without depending on the specification or configuration of the ECU configuring the physical arrangement of the layer lower than the OS 16.

As shown in fig. 6, the local service bus 15 is provided as middleware software installed in the in-vehicle device, the external device, and the other apparatus 10. The in-vehicle device is provided by 1, GW2, display device 3, and each of ECU 4, ECU 5, ECU6, and ECU 7. The external devices are provided by the edge server 9. The other device may be provided by a smartphone. Each local service bus 15 virtually constitutes one service bus 13 by connecting using inter-application communication, in-vehicle communication, and vehicle-to-outside communication. In this configuration, the service bus 13 hides lower-level layers, such as vehicle communications. The concealment of the lower layer is also called encapsulation. Thus, the service developer can concentrate on developing the application without regard to the configuration of the lower level layers. Thus, the service bus 13 can be easily rebuilt or expanded by adding a device installed with the local service bus 15 to the existing service bus 13.

As shown in fig. 7, a service can interoperate with another service by exchanging messages via the service I/F12. This configuration is not limited to services using each other. By exchanging messages via the service I/F12, the application can adopt the service, and the integrated application 18 can adopt the service.

As shown in fig. 8, the protocols by which the service communicates with the service have a request/response mode protocol and a publish/subscribe mode protocol. The request/response mode protocol requests messages and responds to messages in a one-to-one manner. The publish/subscribe style protocol publishes messages to a number of subscribers that are not specified.

In the request/response mode protocol, one service communicates with another service in a one-to-one manner. When a primary service receives a request from another service, the service returns a response to the other service in response to the request.

In the publish/subscribe style protocol, one service communicates with multiple services in a one-to-many fashion. When a service publishes a message, a plurality of services registered for subscription that are not specified are notified of the message. In the publish/subscribe style protocol, the services registered for subscription are configured not to respond to publication.

The information (i.e., attributes provided by the service) may include various information as shown in fig. 9. The information includes a service ID, a service version, a service agreement, a service adopted, an alternative service, presence of influence on vehicle control, priority of transmission and reception of the service, connection authority, installation location of the service, reliability, service of another vehicle, external service, price, recommendation, delay requirement, validity period (expiry time), removal and addition unit, privacy level, and security level. The service ID indicates the name of the service. The service version indicates a version of the service. Two or more services are considered to be different services, provided that they have the same name and the versions of the services are different from each other. The service version is uniquely required to maintain the service. The service protocol means a communication protocol of the service, such as a request/response manner protocol, a publish/subscribe manner protocol. The adopted service represents another service adopted by the main service. The alternative service means an alternative service for safe driving and safe stopping. When the service for safe driving and safe stopping becomes unavailable, an alternative service is employed. The presence of influence on the vehicle control indicates the presence of influence on straight running, curve running, and stopping. When a service adversely affects vehicle control, installation and updating of the service during travel is prohibited. The service is allowed to be installed and updated during driving when it does not adversely affect vehicle control. When arbitration needs to be performed between a plurality of services, the priority of service transmission and reception is employed in priority control. The connection right indicates a right of connection with priority of service transmission and reception. For example, when generation of a cooperative service for controlling braking is easily approved, it may be impossible to ensure driving safety. The installation location of the service represents a constraint on establishing the service. The constraint may include a physical distance between the primary service and another service. The reliability represents the manufacturer of the service. The service of another vehicle means a service installed to another vehicle that is allowed to connect with the main service. The external service means an external service that is allowed to connect with the main service. The external services may include cloud services and smart phone services. The price represents the price of the service. The recommendation represents a recommended level of the service. The delay requirement represents a communication delay time required to establish the primary service. The validity period may also include the existence of an automatic update. The removal and addition unit means a unit of removal and addition. The removal and addition may be performed in units of applications, in units of ECUs, in units of domains, or in units of vehicles. The privacy level indicates the privacy level of the host service. The security level indicates a security level of the main service. Information other than that shown in fig. 9 may be employed. The functions of the service bus 13 include service bus management, service management, and service execution.

When the service bus 13 receives an activation request transmitted from a vehicle system or service, the service bus management function activates the service bus 13. When the service bus 13 receives a deactivation request transmitted from the vehicle system, the service bus management function deactivates the service bus 13. The service bus management function manages the operation state of the service bus 13.

The service management function installs, uninstalls, and updates the service when the service bus 13 receives service management requests for installation, uninstallation, and update, respectively. The service management function activates a service when the service bus 13 is activated or the service bus 13 receives a service management request for activation. The service management function deactivates the service when the service bus 13 is deactivated or the service bus 13 receives a service management request for deactivation. The service management function manages an operation state of the service.

When the service bus 13 receives an execution request of a consumer service, the service execution function executes a provider service. A provider service is a service configured to provide additional services. A consumer service is a service that is configured to employ additional services. The service execution function provides a solution for the installation location of the provider service, i.e. the service execution function has location transparency. When a service user sends a consumer service, a service execution function executes access control for each provider service in response to the received consumer service, the access control determining permission or denial. The service execution function performs priority control in units of services or in units of messages.

When an application or service of the in-vehicle device or the external device employs another service, the service bus 13 provides a solution to an installation location of the another service. Accordingly, the main service on each device can adopt the additional service without considering the installation location of the additional service. This configuration corresponds to location transparency of the service.

As shown in FIG. 10, the service bus 13 and the adapter 11 are located at the software configuration layer. The local service bus 15 is provided as an implementation of the service bus 13.

The service bus 13 is installed on the OS 16 and a communication protocol stack such as CAN or transmission control protocol and internet protocol (TCP/IP). With this configuration, cooperation between the respective services can be achieved. The adapter 11 provides a service I/F12 for the service and notifies the service bus 13 of the request received from the service.

As shown in fig. 11, the service bus 13 has modules including a service bus management 19, a service management 20, a service authentication 21, a user authentication 22, a message transmission and reception 23, a service search 24, an operation history management 25, a development support 26, and a maintenance support 27.

The service bus management 19 controls the activation and deactivation of the service bus 13, keeps additional services available for each service of each device, and keeps each service of each device available for additional services.

The service management 20 manages services on the service bus 13 and controls the operation of the services.

The service authentication 21 authenticates a service installed on the service bus 13.

The user authentication 22 authenticates the end user using the service bus 13.

An end user represents a person accessing the service bus 13 through a consumer service, a provider service, or development assistance software. End users may include vehicle owners and service developers.

The message transmission and reception 23 transmits and receives information, i.e., messages transmitted on the service bus 13.

The service search 24 searches for services on the service bus 13.

The operation history management 25 collects and provides services during the operation state of the service bus 13, and collects and provides the operation history of the service bus 13.

Development support 26 provides functionality to support development of services and service bus 13.

The maintenance support 27 provides functionality to support maintenance of services during operation of the service bus 13.

When installing a service to the service bus 13, the installation is mainly performed by the installation management service. In a configuration in which the integrated application 18 employs the service of the edge server 9 or the service of another apparatus 10, the installation management service is installed to the extended GW1 that communicates with an external device.

The process of installing a service performed by the installation management service will be described below. As shown in fig. 12, the Installation Management Service (IMS) requests its own adapter installation service, as indicated by symbol A1. In fig. 12, the adapter that installs the management service is called ADP of IMS. The adapter forwards the request received from the installation management service to the primary local service bus (primary LSB), as shown by symbol B1.

In response to an installation request from the installation management service, the adapter of the installation management service requests ANOTHER local service bus (anotherr LSB) through the host local service bus to determine whether the service can be installed, as shown by symbol C1. In response to an installation request from an installation management service, another local service bus determines whether the service can be installed. The other local service bus returns a response indicating the determination result determined by the other local service bus to the main local service bus of the installation management service, as shown by symbol D1.

When another local service bus determines that a service can be installed, the main local service bus installing the management service installs the service on a plug and play (PnP) structure (PnP STR) configuring the service bus, as shown by symbol C2.

When a service is successfully installed on the PnP structure, the PnP structure submits a response to the master local service bus on which the management service is installed, as indicated by the symbol E1. In response, the host local service bus that installs the management service notifies its own adapter of the service installation, as shown by symbol C3. The adapter of itself notifies the installation management service of the service installation as indicated by symbol B2. In such a configuration, the installation management service may determine whether the service was successfully installed.

The main local service bus of the installation management service sends an activation request for the installed service to the PnP structure, as shown by symbol C4. In response to a request from the main local service bus of the installation management service, the PnP structure sends an activation request to the installed Target Service (TS), as indicated by the symbol E2. In response to the request from the PnP structure, the target service sends an activation request to the adapter of the target service (ADP of TS), as indicated by the symbol F1, and a request to register service information, as indicated by the symbol F2.

When the service information is registered, the adapter of the target service notifies the host local service bus of the installation management service of the information registration, as shown by symbol G1. With this configuration, the main local service bus of the installation management service can determine whether the installed service is available. The primary local service bus of the installation management service requests the adapter of the installation management service to launch the target service, as shown by symbol C5, and the adapter of the target service forwards the launch request to the target service, as shown by symbol G2.

In response to the start request, the target service is started, and then, with respect to the start of the service, the target service responds to its own adapter, as shown by a symbol F3. The adapter of the target service sends a response indicating the start of the target service to the local service bus of the installation management service, as indicated by the symbol G3. With this configuration, the local service bus of the installation management service can determine that the installed service becomes available.

It is assumed that the in-vehicle device not installed with the local service bus 15 is installed on the host vehicle. In this case, since the in-vehicle device cannot establish the service bus 13, the integrated application 18 cannot adopt the function of the in-vehicle device.

Assume that the integrated application 18 employs the functionality of an in-vehicle device that does not have a local service bus. In this case, as shown in fig. 13, the basic GW2 is installed with a Vehicle Information Providing Proxy Service (VIPPS) 28. The vehicle information providing agent service 28 relays messages between the vehicle-mounted devices without the local service bus 15 and the service bus 13, and functions as a translator (translator) of the messages.

With this configuration, the integrated application 18 installed on the basic GW2 can adopt the function of an in-vehicle device that does not have the local service bus 15. Therefore, the basic GW2 can manage the vehicle control service. In this case, the vehicle information providing agent service 28 relays communication between the service bus 13 and the in-vehicle apparatus that does not have the service I/F12 and the adapter 11. Therefore, the basic GW2 can hide the in-vehicle device.

When performing message transmission or reception with the cloud or edge server 9, the vehicle information providing proxy service 28 may absorb the difference between the protocol employed in the cloud or edge server 9 and the protocol of the service bus 13. The vehicle information providing agent service 28 CAN absorb the difference between the CAN protocol employed in the

ECUs

4, 5, 6 and 7 without the local service bus 15 and the protocol of the service bus. The vehicle information providing agent service 28 may absorb the differences between the protocols used in sending and receiving service bus messages.

It is assumed that the edge server 9 does not have a local service bus 15 and therefore the edge server 9 cannot connect with the service bus 13. In this case, as shown in fig. 14, a server proxy service 29 (SPS) is installed to the extended GW1. The server proxy service 29 relays messages between the vehicle's service bus 13 and the edge server 9 and acts as a translator of the messages.

With the above configuration, the external device does not need to install the local service bus 15. Therefore, a general external device without the local service bus 15 can communicate with the in-vehicle device. The extended GW1 can hide the in-vehicle device.

It is assumed that the edge server 9 has an integrated application 18, and the external device can control the virtual vehicle, specifically, manage the vehicle control service using the integrated application 18. In this case, a brain (brain) performing vehicle control is provided on the external device, and hands and feet actually controlling the vehicle are provided on the vehicle. With this configuration, only the control-related services requiring higher real-time performance need to be downloaded on the vehicle. This configuration can reduce the control processing load of the vehicle.

The above configuration can support self-driving of the vehicle located in the edge area and uniformly control a plurality of vehicles located in the edge area. Such a configuration, in which an external device is used to control a vehicle, is subject to security breaches.

As shown in fig. 15, the edge server 9 has a Virtual Vehicle Proxy Server (VVPS) 30. The virtual vehicle proxy server 30 relays messages between the vehicle's service bus 13 and the edge server 9 and acts as a translator for the messages. It is assumed that each edge server 9 has a different translation rule, i.e. protocol of the virtual vehicle proxy server 30 from the other edge server 9. In this case, the different protocols of the virtual vehicle proxy server 30 may be exposed on the cloud server so that the vehicle can obtain the corresponding protocols from the cloud server. By obtaining the protocol, the vehicle can send or receive messages generated according to the protocol.

With the above configuration, the edge server 9 having the virtual vehicle proxy server 30 can absorb the vehicle specification difference due to different Original Equipment Manufacturers (OEMs), the vehicle type difference, and the sensor difference in the edge server 9. With this configuration, safety can be ensured.

When the host vehicle operates self-driving by autonomous control, the self-driving may be operated by autonomous control based on sensed information detected by the host vehicle basically. When traveling in a traffic network in which the host vehicle cannot feel an obstacle, the host vehicle can support self-driving using additional sensing information obtained from, for example, a surveillance camera. In this case, the host vehicle may employ the sensed information uniformly managed by the cloud server.

It takes a long time for the host vehicle to acquire the sensing information collected by the cloud server from the cloud server. This may occur when the cloud server is physically remote from the host vehicle or the cloud server has a large amount of information that takes a long time to process. The amount of data on the cloud server for unified management is rapidly increasing. The number of cloud servers is small relative to the number of vehicles or data. These factors also result in low responsiveness of the cloud server. The low responsiveness of the cloud server reduces the response speed of the cloud collaboration. Therefore, this configuration is difficult to respond to traffic conditions that require high responsiveness.

With the above configuration, the edge server 9 functioning as an edge of the cloud server can provide an improvement in response speed. The edge server 9 provided between the cloud server and the host vehicle can increase the kinds of services provided by the external devices.

Services that may be provided by the external device may include self-driving, telematics (telematics) services, advanced driving support, and big data services.

Self-driving is a service adopted by vehicles and requires high response speed. The self-driving may include control of automatic travel along the same lane, detection of a blind spot, automatic replacement for parking, support for travel past each other, and display of a distance between another vehicle and the host vehicle.

The telematics service is a service that cooperates with another telematics service provided from the vehicle. The telematics service may include: emergency calls (ecalls); fault calls (bclll); a remote initiator; reverse driving assistance; a monitor of the driving state of the driver; controlling the household appliances; home Energy Management System (HEMS) control; entertainment collaboration, such as audio and video; controlling a vehicle-mounted air conditioner; and overspeed limit support.

Advanced driving support is a service provided in the edge area. Advanced driving support may include notification of a pedestrian suddenly appearing on a road, information provision for surrounding and blind areas, support regarding a front blind area, reservation of Electric Vehicle (EV) charging, home security, door control, lamp control, and horn control.

The big data service is a service mainly provided by the cloud server and requires a large amount of information. Big data services may include: cloud vehicle diagnostics, wherein a cloud server diagnoses a vehicle; an attack monitor, wherein the cloud server monitors a security vulnerability regarding communication security, and distributes batch software (batch software) for processing the security vulnerability; over-the-air (OTA) reprogramming, wherein the cloud server rewrites the software of the vehicle via communication with the vehicle; managing the running of the vehicle; automatically generating a high-precision map; vehicle insurance advice based on driving suitability; tracking stolen vehicles; notification of a parking lot vacancy; controlling the smart power grid; driving diagnosis or fuel economy; and an automobile sharing management system.

The case where the integration application 18 employs the in-vehicle service in cooperation with the external service provided by the edge server 9 through the service bus 13 will be described below. The integrated application 18 determines whether the host vehicle is likely to collide with the obstacle based on the position information of the host vehicle, another vehicle, and a pedestrian, which is provided by the edge server 9. When the integrated application 18 determines that the host vehicle is likely to collide with another vehicle or a pedestrian, the integrated application 18 displays a warning on the display device 3.

As indicated by symbol J1 in fig. 16, it is assumed that the host vehicle is determined to enter a marginal area that provides external services. Specifically, the position information providing service of the locator ECU 4 determines whether the vehicle enters the edge based on the vehicle position. The edge server 9 notifies the host vehicle that the edge server 9 has services available to the host vehicle, as indicated by a symbol H1. The host vehicle authenticates the external service, as indicated by the symbol J2. The installation management service inquires of the service bus 13 whether there is a target in-vehicle service to be employed by the external service, as shown by symbol J3. In this case, when there is no minimum in-vehicle service required to implement the integrated application 18, the process ends. When the vehicle has minimal on-board services required to implement the integrated application 18 but does not have all on-board services or on-board sensors to implement the integrated application 18, the quality of operation of the services may be different than if the vehicle had all on-board services or on-board sensors to implement the integrated application 18. For example, in the blind zone avoiding application, when a brake service, which is one of the services of the brake ECU 5, is installed to the brake ECU 5, the blind zone avoiding application controls the brakes to stop the vehicle. When the brake service is not installed to the brake ECU 5, the blind spot avoidance application uses the image display service to display a warning on the display device 3.

When the integrated application 18 employs both the in-vehicle service and the external service, (i) the in-vehicle service and the external service employed by the integrated application 18 are connected through the service bus 13 as shown by symbols J6 and J4, and then, (ii) the in-vehicle service and the external service cooperate with each other so that the integrated application 18 is provided to the user as shown by symbol J5. With this configuration, the integrated application 18 can provide the user with a service in which the in-vehicle service and the external service cooperate with each other.

As a cooperation example in which the in-vehicle service and the external service cooperate with each other, blind spot avoidance will be described below, as shown in fig. 17. The location information providing service of the locator ECU 4 repeatedly publishes the location information and determines whether the vehicle enters the edge area based on the location information, as indicated by symbol S1. In fig. 17, the position information providing service of the locator ECU is referred to as PIPS (LEUC).

The edge server 9 having the outside service notifies the presence of the outside service to the vehicle in the edge area. The notification is performed in the described order through the adapter 11 of the edge server 9, the service bus 13 of the edge server 9, and the service bus 13 of the extension GW1, as indicated by symbols K1, L1, and M1. In fig. 17, the adapter of the EDGE server is referred to as ADP (EDGE), the service bus of the EDGE server is referred to as SB (EDGE), and the service bus of the extended GW is referred to as SB (EGW).

When the host vehicle enters the edge area of the edge server 9, (i) the service bus 13 of the extended GW1 authenticates the external service as indicated by symbol Q1, and (ii) the external service inquires of the service bus 13 of the basic GW2 whether there is an in-vehicle service to be employed by the external service in the host vehicle as indicated by symbols Q2 and Q3. In fig. 17, the service bus of the basic GW is referred to as SB (BGW).

The basic GW2 (i) inquires of the service bus 13 whether there is an in-vehicle service to be employed by the external service in the host vehicle, as indicated by symbol R1, (ii) performs subscription processing for the external service, as indicated by symbol R2, and (iii) performs access control for the service subscribed by the basic GW2, as indicated by symbol R3. When there is a vehicular service to be adopted by the external service, the basic GW2 accepts the use of the external service. The acceptance is notified to the collision determination service of the edge server 9 through the service bus 13 of the extension GW1, the service bus 13 of the edge server 9, and the adaptor 11 of the edge server 9 in the stated order, as indicated by symbols R4, Q4, M2, and L2.

The collision determination service of the edge server 9 receives a publication notification from the host vehicle. The location information providing service of the locator ECU 4 publishes the location information as indicated by symbol S2. The notification of publication is notified to the collision determination service notification of the edge server 9 through the adapter 11 of the locator ECU 4, the service bus 13 of the basic GW2, the service bus 13 of the edge server 9, and the adapter 11 of the edge server 9 in the stated order, as indicated by symbols S2, T1, U1, R5, M3, and L3. In fig. 17, the adapter of the positioner ECU is referred to as ADP (LECU), and the service bus of the positioner ECU is referred to as SB (LECU). The collision determination service performs a publication reception process, and determines whether the host vehicle is likely to collide with a pedestrian or another vehicle based on the collected position information of the other device 10, in addition to the position information of the host vehicle acquired from the host vehicle, as indicated by symbol K2. When it is determined that the host vehicle is likely to collide with a pedestrian or another vehicle, the collision determination service transmits a request to the blind spot avoidance application of the extended GW1 to display the possibility of collision. The request is transmitted through the adaptor 11 of the edge server 9, the service bus 13 of the extension GW1, and the adaptor 11 of the extension GW1 in the stated order, as indicated by symbols K3, L4, M4, Q5, and P1. In fig. 17, the adapter of the extended GW is referred to as ADP (EGW). After transmitting the notification to the blind spot avoiding application, the blind spot avoiding application performs request reception processing, and warns the possibility of collision on the display device 3, as indicated by symbol N1. The blind spot avoidance application sends a request to the service bus 13 of the display device 3 to display a warning about the possibility of a collision. In fig. 17, a service bus of the DISPLAY device is referred to as SB (DISPLAY). The request is transmitted through the adapter 11 of the extension GW1, the service bus 13 of the extension GW1, and the service bus 13 of the basic GW2 in the order described, as indicated by symbols N2, P2, Q6, and R7. Here, the service bus 13 of the basic GW2 performs access control on the service requested by the collision determination service, as indicated by symbol R6.

The image display service of the display apparatus 3 receives a request for displaying a warning from the service bus 13 through the adapter 11 of the display apparatus 3, as indicated by symbols X1 and W1. In fig. 17, the adapter of the DISPLAY apparatus is called ADP (DISPLAY). The image display service of the display apparatus 3 performs the request reception process and displays a warning on the display apparatus 3 as indicated by the symbol V1. Alternatively, the alert may be audibly alerted by outputting an audio guide using an audio notification service.

With the above configuration, even if a pedestrian or another vehicle is present in a blind area of an intersection or the like, the possibility of collision is displayed on the display device 3. Therefore, the driver can notice the blind area during driving, and the collision possibility is greatly reduced before the collision occurs.

When the external service employed by the integrated application 18 changes over time as the vehicle travels, it is difficult for service provision by static rewriting of software to dynamically cooperate with the external service that requires on-time real-time performance. Dynamic collaboration means that services are used according to the current operating state of the system without restarting the system.

The dynamic rewriting for cooperation with an external service requiring on-time real-time performance will be described below. The dynamic rewriting is performed in each edge area corresponding to the specification of the host vehicle. With this dynamic rewriting, the operation of the host vehicle is changeable. Dynamic rewriting means that a new application is installed to the extended GW1. Here, the newly installed application generates an integrated application 18 that employs the vehicle control function. Here, the vehicle control function is provided as a service via the service I/F and the adapter.

Fig. 18 shows an example of generating the integrated application 18 in each edge region. In fig. 18, a plurality of edge areas are provided in the transportation network, wherein each edge area functions as a short-range communication area of each edge server 9 connected to the cloud server 31. The transportation network may include a parking lot, a driving road, an intersection, and a residence of a company. Upon entering the edge area, the host vehicle (i) installs the service by communicating with the edge server 9 of the respective edge area, (ii) generates the integrated application, and (iii) then executes the service corresponding to the edge area.

When the host vehicle may collide with another vehicle, a pedestrian, or the like, braking control is required. In this case, the host vehicle adds the brake ECU 5, the brake ECU adapter 11, the brake ECU service bus 13, and the brake control service. When the host vehicle needs to obtain position information from an image captured by a camera, the host vehicle adds the camera ECU7, the camera ECU adapter 11, the camera ECU service bus 13, and an image capture service.

An example of the integrated application 18 of the image capturing service employing the camera ECU7 will be described below. When the host vehicle travels in the parking lot of the company, (i) the in-vehicle image pickup device functions as a parking lot vacancy detection image pickup device, (ii) the in-vehicle image pickup device detects a parking lot vacancy in cooperation with the parking lot monitoring image pickup device, and (iii) the integration application 18 notifies the parking lot vacancy.

When the host vehicle is traveling on the travel path, (i) the onboard camera functions as a front monitoring camera, (ii) the onboard camera detects an obstacle such as a front vehicle, a bicycle, or a pedestrian, and (iii) the integrated application 18 controls the brake.

When the host vehicle is traveling at the intersection, (i) the vehicle-mounted camera device functions as a pedestrian detection camera device, (ii) the vehicle-mounted camera device detects a pedestrian present in a blind area in cooperation with a surveillance camera device provided at the intersection, and (iii) the unified application 18 notifies the presence of the pedestrian or controls the brake.

When the host vehicle reaches the residence, (i) the in-vehicle camera device functions as a security camera device, (ii) the in-vehicle camera device detects a suspicious person in cooperation with the security camera device provided at the residence, and (iii) the integrated application 18 sounds a horn or lights a vehicle lamp for fear.

When external infrastructure information such as traffic signal information of traffic signal devices provided at an intersection is employed, the local service bus 15 and the infrastructure information providing service are added to the external infrastructure. It is assumed that the traffic signal device has a local service bus 15 and a signal information providing service. In this case, the integrated application 18 notifies the vehicle in a stopped state of the remaining time before the signal switching or notifies the signal switching in cooperation with the traffic signal device. The service bus 13 performs dynamic rooting for each service of the external device and connects the services to each other so that an existing sales vehicle can add a new application provided by the external device.

The configuration described in the present embodiment can provide the following advantages. A virtual service bus 13 is established, and the virtual service bus 13 relays transmission and reception of messages between the in-vehicle device and the external device. The edge server 9 is described as an example of an external device. The integrated application 18 employs the in-vehicle services and the external services provided by the edge server 9 by making these services cooperate with each other. With this configuration, the functions of the host vehicle can keep up with the rapid development of the external services provided by the edge server 9.

The service manager 13a manages the installation location of the service so that the integrated applications 18 can dynamically utilize the service with each other. With this configuration, the functions of the in-vehicle apparatus and the functions of the external apparatus can dynamically utilize each other. The service manager 13a manages the service removal and addition so that the service can be dynamically removed and added. With this configuration, the in-vehicle device and the external device can be dynamically removed and added.

The service manager 13a is mounted to a service bus 13 of the basic GW2, which relays data transmission and reception between the extended GW1 and two of the ECU 4, the ECU 5, the ECU6, and the ECU 7. With this configuration, the service manager 13a dynamically manages both the in-vehicle service and the external service. Thus, application developers can develop applications without regard to the location of the employed applications and application removal and addition.

The basic GW2 and the extended GW1 have a vehicle information providing proxy service 28. With this configuration, another service of the in-vehicle device can use a service of the in-vehicle device that does not have the local service bus 15, and the in-vehicle device can be packaged for an external device.

In the above configuration, a virtual vehicle controlled by the integrated application 18 is provided. In this configuration, the integrated application 18 installed on the edge server 9 controls the host vehicle through the service bus 13 as a virtual vehicle. The edge server 9 has a virtual vehicle proxy server 30. This configuration can prevent the information security from being lowered.

The in-vehicle apparatus performs short-range communication with the edge server 9. Therefore, the edge server 9 can provide the external service at a higher speed than the case where the external service is directly provided by the cloud server 31.

Since the short-range communication area of the edge server 9 is a predetermined area corresponding to the travel zone of the host vehicle, the provision area of the external service can be specified. The external services of one edge server 9 are different from the external services of another edge server 9. The service of each edge server 9 is provided corresponding to the short-range communication area. Accordingly, the host vehicle cooperates with the external service that differs corresponding to the edge area, and the external service can supplement the autonomous control in each edge area during traveling from the departure place (such as the residence) to the destination.

As an external service, the edge server 9 provides information of a blind zone, which is an area other than the area that can be sensed by the host vehicle. This configuration can improve safety during self-driving. The edge server 9 is established as an edge component of the cloud server. Therefore, the information collected from the vehicle-mounted device can be centrally managed by the cloud server 31 and can be provided to the vehicle-mounted device as cloud information.

(other embodiments)

In the above embodiment, the service bus 13 is established by the edge server 9 and the wireless communication. The service bus 13 may be established over a public wireless communication network. In this case, the integrated application 18 may be generated by installing different services by each region and country based on the location information provided by the location information providing service. Self-driving, telematics service, advanced driving support, and big data service suitable for each region and country can be provided based on location information provided by the location information providing service.

In the above-described embodiment, the service cooperation system for a vehicle is applied to the self-driving system. A person or a vehicle present in a blind area may be warned during a manual driving operation of the vehicle. During the travel of the host vehicle, by connecting the service bus 13 of the other vehicle, the occupant of the host vehicle is notified of the approach of the other vehicle, and a collision with the other vehicle can be avoided in advance.

While only selected exemplary embodiments have been chosen to illustrate the present disclosure, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made herein without departing from the scope of the disclosure as defined in the appended claims. Furthermore, the foregoing description of the exemplary embodiments according to the present disclosure is provided for the purpose of illustration only, and not for the purpose of limiting the disclosure as defined by the appended claims and their equivalents.

Claims

1. A service cooperation system for a vehicle, wherein the service cooperation system enables a function provided by an in-vehicle apparatus (1-7) or an external apparatus to be used as a service, the in-vehicle apparatus is connected to an in-vehicle network (8) of the vehicle, and the external apparatus is communicably connected to the service cooperation system in a wireless manner,

wherein the in-vehicle device includes an extension gateway (GW 1) and a base gateway (GW 2), the extension gateway (GW 1) is configured to establish wireless communication with the external device, and the base gateway (GW 2) is configured to perform rooting in a domain to which an Electronic Control Unit (ECU) belongs,

the service cooperation system for a vehicle includes:

a service interface (12) provided to each of the master device and the target device, wherein,

the main device is one of the in-vehicle device or the external device,

the target device is the other of the in-vehicle device or the external device, the service interface of the master device transmits a request for the service to the target device in response to a request transmitted from an application of the target device,

the service interface of the master device generates the service in the master device in response to a request for the service of the master device, which is transmitted from the target device, and

a service interface of the master device providing the service generated in the master device to the target device;

a local service bus (15) provided to each of the master device and the target device, wherein the local service bus transmits and receives messages between a service interface of the master device and a service interface of the target device according to a predetermined protocol in response to a request or a response to the service;

a service bus (13) virtually formed by the connection of the local service bus of the master device and the local service bus of the target device, wherein the service bus (13) is installed on an operating system and a communication protocol stack and includes service bus management that controls activation and deactivation of the service bus;

an integrated application (18) that functions as the application and enables cooperative use of an in-vehicle service and an external service through the service bus, wherein the in-vehicle service is provided by the in-vehicle device and the external service is provided by the external device; and

a service manager (13 a) that is installed to a service bus (13) of the basic gateway (GW 2) and enables the services to be mutually employed dynamically in the in-vehicle device or the external device by managing an installation location of the services.

2. The service cooperation system for vehicles according to claim 1,

the service manager enables dynamic removal and addition of the service by managing the removal and addition of the service.

3. The service cooperation system for vehicles according to claim 1 or 2, further comprising:

a vehicle information providing proxy service (28) provided to the master device, wherein the vehicle information providing proxy service establishes the service bus by relaying message transmission and reception between another target device that does not have the local service bus and the master device.

4. The service cooperation system for vehicles according to claim 1 or 2, wherein,

the external device is installed with the integrated application, an

The external device includes a virtual vehicle proxy (30) that establishes the service bus by relaying message transmission and reception between the external device and a local service bus of the in-vehicle device.

5. The service cooperation system for vehicles according to claim 1 or 2, wherein,

the vehicle-mounted device performs short-range communication with the external device.

6. The service cooperation system for vehicles according to claim 5,

the external device defines a predetermined communication area as a short-range communication area corresponding to a travel area of the vehicle.

7. The service cooperation system for vehicles according to claim 6,

the external device provides a service specific to the short-range communication area.

8. The service cooperation system for vehicles according to claim 7,

the external device provides self-driving support as a service specific to the short-range communication area.

9. The service cooperation system for the vehicle according to any one of claims 6 to 8,

the external service is installed when the vehicle enters the short-range communication area.

10. The service cooperation system for vehicles according to any one of claims 1 to 2 and 6 to 8,

the external device is provided by an edge server that functions as an edge component of the cloud server (31).